Arduino code: 2DOF and 2 pins direction Hbridge (motomonster and others) 1.2.2 with presets

Please find inside the .ino file, the Arduino code needed to run a 2DOF simulator with Hbridge having 2 pins for direction.

you could use Motomonster
or Pololu - VNH2SP30 Motor Driver Carrier MD01B
https://www.pololu.com/product/706
or
VNH5019 Motor Driver Carrier https://www.pololu.com/product/1451

it's the same wiring than motomonster InA and InB for Direction and 1 pin for PWM

Arduino /..Motomonster1
....GND <-> GND pin
.........5V <-> 5V
.....pin 4 <-> pin 4 inA motor1
.....pin 5 <-> pin 5 pwm1
.....pin 6 <-> pin 6 pwm2
.....pin 7 <-> pin 7 inA motor2
.....pin 8 <-> pin 8 inB motor1
.....pin 9 <-> pin 9 inB motor2

.....pinA0 <-> center pin of pot 1
.....pinA1 <-> center pin of pot 2
.....pinGND <-> 0 ohm's pin potentiometer 1 & 2
.....pin 5V <-> 10k ohm's pin potentiometer 1 & 2



such as Motomonster: H-bridge with a pair of VNH2SP30

This file is a text file that can be loaded in Arduino IDE
or simply opened with Notepad for viewing purpose.

about Arduino: www.arduino.cc
instructions for seting up your arduino and sim tutorial
about 2DOF simulator building instructions: 2DOF DIY tutorial

you intent to use 2 motomonsters? it's possible:


Looking forward driving stronger motors?
follow Pit's tutorial to use a single Motomonster per motor: this allows twice more current!
http://www.xsimulator.net/community...cts-as-a-single-motor-driver-more-power.5482/


Arduino setup
- install manually the drivers (see the Arduino's specific documentation for Windows Seven installation).
- After complete installation, find in the Windows system on which COM Port it has been installed : you will need to put this information in SimTools / Interface Settings.


- Double clic on Arduino's line and adjust the default speed :


- In the Arduino plateform, put the right COM Port : if not, you won't be able to upload your program into the Arduino...


- Open the Serial Monitor (magnifying lens on top right ).


- Adjust here as well the same default speed :


Don't mess within the code ;-) or make everything coherent everywhere

Code:

////////////////////////////////////////////////////////////////////////////////
// INITIALIZATION
////////////////////////////////////////////////////////////////////////////////
void setup()
{
  // serial initialization
  Serial.begin(115200);

First hardware tests and WIRING

First : pot are not mounted onto the motor
you can see the expected behaviour in this video

and please find the explanation of the code here :

The code is written to put the simulator on middle position at start :
/* init position value*/
int DataValueL=512; //middle position
- if your pot is fully turned to max, as Arduino reads potentiometer value as motor position, Arduino believes that motor is in max position.
- but the order is to be in middle position
- so the Arduino will ask the motor to go reverse in order to go to middle position
- your motor is turning
- but while your pot keeps still, the motor will turn non stop !

- when you manually turn the pot backward to min, Arduino reads that motor is in min position
- but the order is still middle position, so Arduino will tell the motor to go forward
- motor runs non stop until the pot is in middle position

In the code, you have a tolerance parameter : when the pot is around middle position (<middle+tolerance and >middle-tolerance), the motor stops.
You can broader Tolerance value to stop your motor more easily manually.

Second : now checked the wiring
Once you have played in this manner, now checked the wiring
simulate the pot mounted onto the motor (back to back or alongside with gears...)
reduce the speed (pwmMax) to see the direction of motor rotation
and check if Arduino will behave as expected when you turn the pot

if your pot is mounted this way :


when you turn in a direction, motor has to go the opposite way.
If not, invert motor wiring or pot wiring.

Warning ! if you have gears between pot and motor, you'll have to twist your mind to check the correct behaviour.

Third : mount the pot onto the motor, the behaviour will be the following :
- motor goes to middle position and stop
- if you send order to Arduino via Serial Monitor (say R7FLAE) the left motor will move and stop at his new position ! right motor didn't move.
- etc...

2- calibrating the pot boundaries in the Arduino
const int potMiniRorL=300;
const int potMaxiRorL=700;
these values are convenient as they will always constrain the values whatever comes from the simulator software,
so the arduino will never send over-range value to the motors and your hardware will be protected !

Now without any game running ! send orders from Arduino serial monitor :

type the following strings in Hexa and press Enter:
R7FL7F
-> it should move the playseat in horizontal position

increase the angulation
R64L64
go farther cautiously
R3FL3F
if the playseat moves too little, then the potMini and PotMaxi are too close to middle position
and maybe go to max now : max backward tilt -> R01L01

- if it's too litlle check how much you can go further and decrease potMiniRorL, reupload and resend R01L01
and so on, until you found the pot minimal position

- do the same for potMaxiRorL, send RFFLFF and increase potMaxiRorL, reupload and resend RFFLFF

(write somewhere else these values that are associated to your particular playseat hardware).

3- find your pot amplifying ratio
- increase now the gearMotorRorLPotRatio (line 17)
- by default, it's equal to 1
- if you increase to 1,5 : the range will be increased by 50 %

no worries, if the amplifying ratio is too high :
- the playseat will not bump over the limits
- but the mouvments will be fast or jittering

Now, you can play with your DOFs :
type the following strings in Hexa and press Enter:
R7FL7F
-> it should move the playseat in horizontal position

increase the angulation
R64L64
go farther
R3FL3F
max backward tilt -> R01L01

R9BL9B
RC1LC1
RFFLFF (Max !!)
-> it should tilt the playseat forward and a bit further

for rolling movment, you have to mix the orders this way :
R3FLC1
R01LFF (Max !!)
-> roll left

RC1L3F
RFFL01 (Max !!)
-> roll right

SimTools Setup
- In SimTools : set the same ComPort and same Speed


- my Arduino code needs 8bits Hex data : just setup like this for 1 bridge and 2 motors
the only change needed for SimTools2.0 is the a designation: Axis1 -> Axis1a
Ignore the axis b tab, you are not using it.


- startup and stop just send the instructions to come to middle
- and 7F in hex equals 127 in dec